US5859597A - Helicopter electronic system for detecting electric power lines during landing - Google Patents

Helicopter electronic system for detecting electric power lines during landing Download PDF

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US5859597A
US5859597A US08/964,621 US96462197A US5859597A US 5859597 A US5859597 A US 5859597A US 96462197 A US96462197 A US 96462197A US 5859597 A US5859597 A US 5859597A
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power line
detection system
voltage level
reference voltage
alarm
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US08/964,621
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C. Joseph Cornelio
Kenneth Nevin Crocker
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
    • G01R29/08—Measuring electromagnetic field characteristics
    • G01R29/0807—Measuring electromagnetic field characteristics characterised by the application
    • G01R29/0814—Field measurements related to measuring influence on or from apparatus, components or humans, e.g. in ESD, EMI, EMC, EMP testing, measuring radiation leakage; detecting presence of micro- or radiowave emitters; dosimetry; testing shielding; measurements related to lightning
    • G01R29/085—Field measurements related to measuring influence on or from apparatus, components or humans, e.g. in ESD, EMI, EMC, EMP testing, measuring radiation leakage; detecting presence of micro- or radiowave emitters; dosimetry; testing shielding; measurements related to lightning for detecting presence or location of electric lines or cables

Definitions

  • the invention relates to aircraft instrumentation and warning systems and in particular to helicopter instrumentation and warning systems.
  • the invention also relates to electromagnetic field measurement systems as modified for helicopter use.
  • the invention relates to the timely detection of electromagnetic fields created by alternating current flowing through electric power lines and notification of the helicopter pilot of their presence prior to landing.
  • Helicopters have the highest accident rate per 100,000 hours of operation of all commercial aircraft operated in the US. Most helicopter crashes occur during landing, often in inclement weather. Improvements such as lower cost radar, (Honeywell), are being introduced. The detection of power lines, which are not detectable by radar, in order to reduce the number of helicopter accidents, is the focus of this patent application.
  • the prior art includes a Collision Avoidance Radar Detection System, U.S. Pat. No. 5,111,210 by Morse which is a microwave signal detector system.
  • a Reference Frequency and Low Voltage Detection Circuit by Tinsley, U.S. Pat. No. 4,568,877 is a digital frequency detection system using a microcomputer as a frequency counter.
  • An Accurate Analog Measurement System by McKee, U.S. Pat. No. 4,884,019 measures the distortion on a known output signal and uses it to remove the distortion from the measurement signal.
  • the 60 cycle signal emitted from the power lines is of sufficient strength that techniques such as McKee's will not be needed.
  • the helicopter power line detection system consists of an electronic system comprising:
  • a band pass filter for improved detection of the 60 cycle ac signal generated by power lines
  • an amplifier circuit for converting the 60 cycle ac signal to a voltage level
  • a comparator circuit for comparing the voltage level from the converted 60 cycle signal with the reference voltage that represents the predetermined dangerous distance
  • a comparator circuit for comparing the voltage level from the converted 60 cycle signal with the reference voltage that represents the safe distance from the power line
  • FIG. 1A is a side elevation view of a helicopter with the Hall effect electromagnetic sensors mounted underneath. The electromagnetic field detection pattern is illustrated;
  • FIG. 1B shows the underside view of the electromagnetic sensors of a helicopter.
  • the sensors are shown to illustrate their EMF detection pattern.
  • the physical size of the sensors is not shown to scale.
  • FIG. 2 is a block diagram of the electronic circuit for each Hall effect sensor. Two reference voltages and the audio alarm are for all four sensors; and
  • FIG. 3 is a front view of the visual alarm located on the display panel of the helicopter.
  • the sensors are located on the underside of the helicopter body. They are placed near the front of the helicopter to allow for forward motion during landing. Mechanical details of the sensor mounting will be determined and approved by helicopter manufacturers.
  • the second sensor is placed perpendicular to the first sensor, across the body of the helicopter. None of the sensors protrude out from the body of the helicopter so aerodynamics are minimally effected.
  • the third sensor is placed at 45 degrees between the first and second sensors.
  • the fourth sensor is placed 90 degrees from the third sensor. This placement gives maximum signal strength every 45 degrees. If the helicopter body does not interfere with or block EMF, the sensors may be placed inside the helicopter.
  • FIG. 2 describes the electronic circuits needed to identify the EMF signal generated by a power line, compare it with a reference voltage to determine that a powerline is present, and alert the pilot. When the helicopter is no longer near the power line the alarms are reset.
  • the four directional sensors are housed in a plastic or fiberglass weatherproof housing under the body of the helicopter. Electrically shielded cables bring electric power to the sensors and convey the alternating current electromagnetic field back through shielded cable to the band pass filter b. A preamp circuit may be needed based on the distance from the power lines where the EMF is to be detected.
  • the band pass filter b receives the 60 cycle signal and both helicopter and random noise. The output from the band pass filter is predominantly 60 cycle and is converted to a DC voltage level by circuit c. The DC voltage level c is compared with alarm reference voltage d by comparator e. Field testing needs to be done before the exact value of alarm reference voltage d can be set.
  • the reset reference voltage f. and the reset comparator g. are similar in design to reference voltage d. and comparator e.
  • Comparator e. and reset comparator g. compare the DC amplitude c with their respective reference voltages and each outputs a dc level to the electronic latch circuit h.
  • latch h locks high and the appropriate Pilot Visual Alarm j is activated by a display driver.
  • a separate reference voltage can activate the audio alarm j. when the helicopter is closer to the power lines.
  • a high level dc signal on the output of electronic latch h can be used to drive audio alarm j.

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention is an electronic system for warning helicopter pilots of the presence of electric power lines during landing. The system detects electromagnetic fields created by electricity flowing through the power lines. When the helicopter is closer than a predetermined distance from the power line, visual and audio alarms alert the pilot of the danger. When the helicopter is a safe distance from the power line, the alarms reset.

Description

FIELD OF INVENTION
The invention relates to aircraft instrumentation and warning systems and in particular to helicopter instrumentation and warning systems. The invention also relates to electromagnetic field measurement systems as modified for helicopter use.
BACKGROUND OF THE INVENTION
The invention relates to the timely detection of electromagnetic fields created by alternating current flowing through electric power lines and notification of the helicopter pilot of their presence prior to landing.
Helicopters have the highest accident rate per 100,000 hours of operation of all commercial aircraft operated in the US. Most helicopter crashes occur during landing, often in inclement weather. Improvements such as lower cost radar, (Honeywell), are being introduced. The detection of power lines, which are not detectable by radar, in order to reduce the number of helicopter accidents, is the focus of this patent application.
PRIOR ART STATEMENT
The prior art includes a Collision Avoidance Radar Detection System, U.S. Pat. No. 5,111,210 by Morse which is a microwave signal detector system. A Reference Frequency and Low Voltage Detection Circuit by Tinsley, U.S. Pat. No. 4,568,877 is a digital frequency detection system using a microcomputer as a frequency counter. An Accurate Analog Measurement System by McKee, U.S. Pat. No. 4,884,019 measures the distortion on a known output signal and uses it to remove the distortion from the measurement signal. The 60 cycle signal emitted from the power lines is of sufficient strength that techniques such as McKee's will not be needed.
SUMMARY OF THE INVENTION
The helicopter power line detection system consists of an electronic system comprising:
four Hall effect electromagnetic sensors strategically positioned for improved detection of power lines in four directions:
electronic circuits for each of the four sensors for improved identification of 60 cycle electromagnetic fields;
a reference voltage for representing a predetermined distance from the power line;
a reference voltage for representing a safe distance from the power line;
a band pass filter for improved detection of the 60 cycle ac signal generated by power lines;
an amplifier circuit for converting the 60 cycle ac signal to a voltage level;
a comparator circuit for comparing the voltage level from the converted 60 cycle signal with the reference voltage that represents the predetermined dangerous distance;
a comparator circuit for comparing the voltage level from the converted 60 cycle signal with the reference voltage that represents the safe distance from the power line;
a pilot display showing the direction of the power line below the helicopter for improved collision avoidance; and
an audio pilot alert for improved pilot awareness resulting in improved collision avoidance.
OBJECTS OF THE INVENTION
It is an object of the present invention to provide a new and improved power line detection system.
It is another object of the present invention to provide a new and improved electromagnetic field detection system.
It is another object of the present invention to provide a power line detection system that can function in a helicopter environment.
It is another object of the present invention to provide an improved electronic filter for detecting 60 cycle ac signals.
It is another object of the present invention to provide a new and improved visual display indicating the direction of the power lines below the helicopter.
It is another object of the present invention to provide a new and improved audio alarm having unique audio characteristics for alerting the helicopter pilot of power lines.
BRIEF DESCRIPTION OF THE DRAWINGS
The objects, features and advantages of the invention may be understood with reference to the following detailed description of an illustrated embodiment of the invention, taken together with the accompanying drawings in which:
FIG. 1A is a side elevation view of a helicopter with the Hall effect electromagnetic sensors mounted underneath. The electromagnetic field detection pattern is illustrated;
FIG. 1B shows the underside view of the electromagnetic sensors of a helicopter. The sensors are shown to illustrate their EMF detection pattern. The physical size of the sensors is not shown to scale.
FIG. 2 is a block diagram of the electronic circuit for each Hall effect sensor. Two reference voltages and the audio alarm are for all four sensors; and
FIG. 3 is a front view of the visual alarm located on the display panel of the helicopter.
DETAILED DESCRIPTION
The sensors are located on the underside of the helicopter body. They are placed near the front of the helicopter to allow for forward motion during landing. Mechanical details of the sensor mounting will be determined and approved by helicopter manufacturers.
Four sensors are used. One is placed in line with the body of the helicopter. The second sensor is placed perpendicular to the first sensor, across the body of the helicopter. None of the sensors protrude out from the body of the helicopter so aerodynamics are minimally effected. The third sensor is placed at 45 degrees between the first and second sensors. The fourth sensor is placed 90 degrees from the third sensor. This placement gives maximum signal strength every 45 degrees. If the helicopter body does not interfere with or block EMF, the sensors may be placed inside the helicopter.
FIG. 2 describes the electronic circuits needed to identify the EMF signal generated by a power line, compare it with a reference voltage to determine that a powerline is present, and alert the pilot. When the helicopter is no longer near the power line the alarms are reset.
The four directional sensors are housed in a plastic or fiberglass weatherproof housing under the body of the helicopter. Electrically shielded cables bring electric power to the sensors and convey the alternating current electromagnetic field back through shielded cable to the band pass filter b. A preamp circuit may be needed based on the distance from the power lines where the EMF is to be detected. The band pass filter b receives the 60 cycle signal and both helicopter and random noise. The output from the band pass filter is predominantly 60 cycle and is converted to a DC voltage level by circuit c. The DC voltage level c is compared with alarm reference voltage d by comparator e. Field testing needs to be done before the exact value of alarm reference voltage d can be set.
The reset reference voltage f. and the reset comparator g. are similar in design to reference voltage d. and comparator e. Comparator e. and reset comparator g. compare the DC amplitude c with their respective reference voltages and each outputs a dc level to the electronic latch circuit h. When the dc output level of comparator e is high, latch h locks high and the appropriate Pilot Visual Alarm j is activated by a display driver. If desired, a separate reference voltage can activate the audio alarm j. when the helicopter is closer to the power lines. A high level dc signal on the output of electronic latch h can be used to drive audio alarm j.

Claims (14)

What is claimed is:
1. A power line detection system forewarning aircraft pilots of close proximity to power lines, comprising:
a plurality of Hall effect sensors attached to the aircraft for detecting an electromagnetic field emanating from an electric power line;
means for providing an alarm reference voltage level representing a hazardous distance from the electric power line;
means for providing a reset reference voltage level representing a safe distance from the electric power line;
a first electronic circuit for producing an electromagnetic signal which is related to the electromagnetic field detected by the Hall effect sensors, for comparing the electromagnetic signal to the alarm reference voltage level, and for activating the visual alarm if a first predetermined condition is met;
a second electronic circuit for comparing the electromagnetic signal to the reset reference voltage level and for deactivating the visual alarm if a second predetermined condition is met; and
wherein the visual alarm comprises indication for each direction represented by the Hall effect sensors;
an audio alarm for indicating that power lines are below.
2. A power line detection system as in claim 1, wherein:
the first electronic circuit includes at least one bandpass filter to detect and isolate the ac signal generated by electricity passing through the power line.
3. A power line detection system as in claim 1, wherein:
the alarm reference voltage level is set based on the strength of the electromagnetic field a known distance from the power line.
4. A power line detection system as in claim 1, wherein:
the reset reference voltage level is set based on the signal strength of the electromagnetic field a predetermined safe distance away from the power line.
5. A power line detection system as in claim 1, wherein:
the first electronic circuit includes at least one band pass filter and at least one amplifier circuit for converting the ac signals from the band pass filters to DC voltage levels.
6. A power line detection system as in claim 1, wherein:
the first electronic circuit includes a comparator for comparing the signal voltage level with the alarm reference voltage level and for setting an electronic latch if the signal voltage level is greater than the alarm reference voltage level.
7. A power line detection system as in claim 1, wherein:
the second electronic circuit includes a reset comparator for comparing the signal voltage level with the reset reference voltage level and for resetting an electronic latch if the signal voltage level is less than the reset reference voltage level.
8. A power line detection system as in claim 1, wherein:
the visual alarm includes a visual display showing the direction of the power line when an electronic latch indicates that the power line is near.
9. A power line detection system as in claim 1, further comprising:
means for producing an audio alarm signal when an electronic latch indicates that the power line is near.
10. A power line detection system as in claim 1, wherein:
the Hall effect sensors are oriented at 45 degree angles outward from the center of a circle.
11. A power line detection system as in claim 10, wherein:
there are four Hall effect sensors.
12. A power line detection system for use in aviation comprising:
a plurality of Hall effect sensors for detecting an electromagnetic field emanating from the power line;
an electronic circuit for each of the sensors for determining the amplitude of the field, and for triggering an alarm when the amplitude of the field is greater than a first reference voltage;
an electronic circuit for each of the sensors for resetting the alarm when the amplitude of the field is less than a second reference voltage;
a visual display for indicating when the power line is near; and
an audio alarm for indicating when the power line is near.
13. A power line detection system as in claim 12, wherein:
the Hall effect sensors are oriented at 45 degree angles outward from the center of a circle.
14. A power line detection system as in claim 12, wherein: there are four Hall effect sensors.
US08/964,621 1997-11-05 1997-11-05 Helicopter electronic system for detecting electric power lines during landing Expired - Fee Related US5859597A (en)

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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6603423B2 (en) * 2001-01-18 2003-08-05 Eads Deutschland Gmbh Method for detecting wires using the ROSAR system
US20040217883A1 (en) * 2003-03-31 2004-11-04 Judge John H. Technical design concepts to improve helicopter obstacle avoidance and operations in "brownout" conditions
US20060009887A1 (en) * 2001-12-10 2006-01-12 Bae Systems Information Method and apparatus for avoidance of power lines or trip wires by fixed and rotary winged aircraft
WO2006003448A1 (en) * 2004-07-06 2006-01-12 William John Martin Proximity sensor
WO2006083408A1 (en) * 2004-12-31 2006-08-10 Bae Systems Information And Electronic Systems Integration Inc. Method and apparatus for avoidance of power lines or trip wires by fixed and rotary winged aircraft
US7091881B2 (en) 2003-03-31 2006-08-15 Sikorsky Aircraft Corporation Integrated hover display with augmented approach to hover symbology cueing for degraded visual environmental conditions
EP2237055A1 (en) * 2009-03-31 2010-10-06 Eurocopter Deutschland GmbH Wide-band electromagnetic field detector and analysis system for aircraft
US20110153169A1 (en) * 2009-12-18 2011-06-23 Agco Corporation Sensor-Based Implement Motion Interlock System
ES2472666A1 (en) * 2013-12-26 2014-07-02 Universidad De Cantabria Collision reducer and aircraft accidents on overhead power lines
ES2519290A1 (en) * 2013-12-26 2014-11-06 Universidad De Cantabria Reducer of collisions and electrocutions of birds in overhead power lines (Machine-translation by Google Translate, not legally binding)
US9110120B2 (en) 2004-12-23 2015-08-18 Power Survey Llc Apparatus and method for monitoring and controlling detection of stray voltage anomalies
EP2746784A3 (en) * 2012-09-04 2016-08-03 Eltel Networks Oy A sensor for indicating voltage in a power transmission line and a method for voltage sensing
US20170097435A1 (en) * 2015-10-06 2017-04-06 U.S. Army Research Laboratory Attn: Rdrl-Loc-I Method of autonomous power line detection, avoidance, navigation, and inspection using aerial crafts
US20190302762A1 (en) * 2018-04-03 2019-10-03 Deere & Company Overhead power cable detection and avoidance

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US4405926A (en) * 1976-07-12 1983-09-20 The Secretary Of State For Defence In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern Ireland Methods and apparatus for warning aircraft of the presence and direction of electrical transmission lines
US5252912A (en) * 1989-06-28 1993-10-12 William E. Merritt System for warning aircraft pilot of potential impact with a power line and generating time-to-time impact signal
US5448233A (en) * 1993-01-28 1995-09-05 State Of Israel, Rafael Armament Development Authority Airborne obstacle collision avoidance apparatus
US5473244A (en) * 1992-09-17 1995-12-05 Libove; Joel M. Apparatus for measuring voltages and currents using non-contacting sensors

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Publication number Priority date Publication date Assignee Title
US4405926A (en) * 1976-07-12 1983-09-20 The Secretary Of State For Defence In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern Ireland Methods and apparatus for warning aircraft of the presence and direction of electrical transmission lines
US5252912A (en) * 1989-06-28 1993-10-12 William E. Merritt System for warning aircraft pilot of potential impact with a power line and generating time-to-time impact signal
US5473244A (en) * 1992-09-17 1995-12-05 Libove; Joel M. Apparatus for measuring voltages and currents using non-contacting sensors
US5448233A (en) * 1993-01-28 1995-09-05 State Of Israel, Rafael Armament Development Authority Airborne obstacle collision avoidance apparatus

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6603423B2 (en) * 2001-01-18 2003-08-05 Eads Deutschland Gmbh Method for detecting wires using the ROSAR system
US20060009887A1 (en) * 2001-12-10 2006-01-12 Bae Systems Information Method and apparatus for avoidance of power lines or trip wires by fixed and rotary winged aircraft
US7286912B2 (en) * 2001-12-10 2007-10-23 Bae Systems Information And Electronic Systems Integration Inc. Method and apparatus for avoidance of power lines or trip wires by fixed and rotary winged aircraft
US20060238377A1 (en) * 2003-03-31 2006-10-26 Lorren Stiles Integrated hover display with radar altitude predictor for indicating height above ground
US7091881B2 (en) 2003-03-31 2006-08-15 Sikorsky Aircraft Corporation Integrated hover display with augmented approach to hover symbology cueing for degraded visual environmental conditions
US7106217B2 (en) * 2003-03-31 2006-09-12 Sikorsky Aircraft Corporation Technical design concepts to improve helicopter obstacle avoidance and operations in “brownout” conditions
WO2005015333A3 (en) * 2003-03-31 2005-05-06 Sikorsky Aircraft Corp Technical design concepts to improve helicopter obstacle avoidance and operations in 'brownout' conditions
US20040217883A1 (en) * 2003-03-31 2004-11-04 Judge John H. Technical design concepts to improve helicopter obstacle avoidance and operations in "brownout" conditions
WO2006003448A1 (en) * 2004-07-06 2006-01-12 William John Martin Proximity sensor
US9666057B2 (en) 2004-12-23 2017-05-30 Power Survey Llc Apparatus and method for monitoring and controlling detection of stray voltage anomalies
US9110120B2 (en) 2004-12-23 2015-08-18 Power Survey Llc Apparatus and method for monitoring and controlling detection of stray voltage anomalies
US9666058B2 (en) 2004-12-23 2017-05-30 Power Survey Llc Apparatus and method for monitoring and controlling detection of stray voltage anomalies
WO2006083408A1 (en) * 2004-12-31 2006-08-10 Bae Systems Information And Electronic Systems Integration Inc. Method and apparatus for avoidance of power lines or trip wires by fixed and rotary winged aircraft
EP2237055A1 (en) * 2009-03-31 2010-10-06 Eurocopter Deutschland GmbH Wide-band electromagnetic field detector and analysis system for aircraft
US8654001B2 (en) * 2009-03-31 2014-02-18 Eurocopter Deutschland Gmbh Wide-band HIRF detector- and analysis system for aircraft
US20120032832A1 (en) * 2009-03-31 2012-02-09 Eurocopter Deutschland Gmbh Wide-band hirf detector- and analysis system for aircraft
WO2010112989A1 (en) * 2009-03-31 2010-10-07 Eurocopter Deutschland Gmbh Wide-band electromagnetic field detector and analysis system for aircraft
US20110153169A1 (en) * 2009-12-18 2011-06-23 Agco Corporation Sensor-Based Implement Motion Interlock System
EP2746784A3 (en) * 2012-09-04 2016-08-03 Eltel Networks Oy A sensor for indicating voltage in a power transmission line and a method for voltage sensing
ES2519290A1 (en) * 2013-12-26 2014-11-06 Universidad De Cantabria Reducer of collisions and electrocutions of birds in overhead power lines (Machine-translation by Google Translate, not legally binding)
ES2472666A1 (en) * 2013-12-26 2014-07-02 Universidad De Cantabria Collision reducer and aircraft accidents on overhead power lines
US20170097435A1 (en) * 2015-10-06 2017-04-06 U.S. Army Research Laboratory Attn: Rdrl-Loc-I Method of autonomous power line detection, avoidance, navigation, and inspection using aerial crafts
US9964658B2 (en) * 2015-10-06 2018-05-08 The United States Of America As Represented By The Secretary Of The Army Method of autonomous power line detection, avoidance, navigation, and inspection using aerial crafts
US20190302762A1 (en) * 2018-04-03 2019-10-03 Deere & Company Overhead power cable detection and avoidance
EP3549441A1 (en) * 2018-04-03 2019-10-09 Deere & Company Mobile spraying machine and control method for such
US11150648B2 (en) * 2018-04-03 2021-10-19 Deere & Company Overhead power cable detection and avoidance

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